CN106840108A - Vision measurer and vision measuring method - Google Patents
Vision measurer and vision measuring method Download PDFInfo
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- CN106840108A CN106840108A CN201710044344.6A CN201710044344A CN106840108A CN 106840108 A CN106840108 A CN 106840108A CN 201710044344 A CN201710044344 A CN 201710044344A CN 106840108 A CN106840108 A CN 106840108A
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- vertical circle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
Abstract
This application discloses a kind of vision measurer and vision measuring method, wherein vision measurer includes：Fuselage, horizontal limb, vertical circle, camera lens, imageing sensor and horizon sensor, horizontal direction adjusting knob, vertical direction adjusting knob；The central shaft of horizontal limb and the primary optical axis of camera lens are respectively perpendicular to the central shaft of vertical circle, and the central shaft of the central shaft of horizontal limb, the primary optical axis of camera lens and vertical circle intersects at a point, the primary optical axis of camera lens intersects vertically with the image plane of imageing sensor, the row battle array of the photosensitive unit array of imageing sensor is parallel with the central shaft of vertical circle, the array of the photosensitive unit array of imageing sensor and the central axis of vertical circle, the central shaft of horizon sensor are parallel with the central shaft of horizontal limb.The application has noncontact, high accuracy, efficient feature, and substantially increases photogrammetric precision.
Description
Technical field
The application is related to a kind of vision measurer and vision measuring method.
Background technology
It is general to use laser tracker system or digital close shot for the space three-dimensional size of testee and position measurement
Digital Photogrammetric System.Laser tracker system measures angle and laser ranging to obtain the space of testee by scale
Information, its have the advantages that high accuracy, it is highly reliable.Digital close view photogrammetric system be by camera in different positions and
Direction obtains digital pictures more than 2 width of same object, and tested point is obtained after the related mathematical computations such as image procossing matching
Accurate three-dimensional coordinate, it has the remarkable advantages such as noncontact, high efficiency.
In the fields such as Aero-Space, shipbuilding, nuclear energy, track traffic, large scientific facilities, because some of testee are special
Different property, noncontact, high accuracy, efficient requirement are proposed to measuring instrument.And laser tracker system is in measurement process,
, it is necessary to speculum to be rest directly upon the surface of testee, nothing when obtaining instrument to the distance between testee and angle
Method meets the requirement of non-cpntact measurement；Meanwhile, laser tracker metering system is point-to-point measurement, less efficient, is taken more.Number
Word close range photogrammetric system, is measured using dot matrix, and efficiency is very high, and can the permanently mounted survey on testee during measurement
Amount target, can meet the requirement of non-cpntact measurement.But because digital close view photogrammetric system needs to resolve different measurements
Relative position and attitude relation between the camera of erect-position, and be completely dependent on external object point that camera photographs and set up difference
Contact between camera erect-position, will be unable to reach certainty of measurement higher；Meanwhile, digital close view photogrammetric system does not have vertical line
Benchmark, it is impossible to the horizontal attitude and the discrepancy in elevation of direct access testee.
The TS16 total powerstations of Leica companies production, in addition to scale measurement angle information, also looking in the distance in total powerstation
Mirror top is loaded with a camera, therefore, TS16 may also be used for carrying out it is photogrammetric, while obtaining the angle letter between photograph
Breath.It is done so that main purpose be not configured to it is photogrammetric, but in order to use camera image aid in aim at total powerstation target.
Total powerstation is all to use human eye observation, i.e. human eye to be observed by the collimation axis run-home of telescope, and such human eye is easily tired
And it is inefficient.TS16 total powerstations show the image of range of telescope by camera in touch display screen, and user touches aobvious
The image of the testee in display screen, drives the collimation axis of total powerstation to aim at measurand roughly, which saves pointing time.
Therefore, TS16 total powerstations main purpose is not intended to carry out photogrammetric, its mainly still use scale angle measurement and electromagnetic wave survey
Away from determining coordinates of targets.Its shortcoming is：1st, the primary optical axis of TS16 cameras and the collimation axis of total powerstation be not coaxial, the focus of camera
Or image plane does not have defined location relation with the centre point of total powerstation；2nd, TS16 cameras major parameter is：5000000 pictures
Element, visual field is 19.4 °, camera sensor and resolution of lens is low, visual field is narrow.Although TS16 can be by user's self-calibration
Method determine the relation of primary optical axis and collimation axis and the focus or image plane of camera and the centre point of total powerstation
Position relationship, but under the comprehensive function that horizontal limb and vertical circle are moved, system complexity is substantially improved, it is impossible to reach
Degree of precision.
The content of the invention
The purpose of the application is：For above-mentioned technical problem, the application proposes a kind of vision measurer and vision measurement side
Method, it has noncontact, high accuracy, efficient feature, and substantially increases photogrammetric precision.
In order to achieve the above object, the technical scheme of the application is：
A kind of vision measurer, including：
Fuselage；
Horizontal limb, the horizontal limb is connected on the fuselage, and the central shaft that can be vertically arranged around it rotates fortune
It is dynamic；
Vertical circle, the vertical circle is connected on the fuselage, and can rotate fortune around its horizontally disposed central shaft
It is dynamic；
The camera lens and imageing sensor for being fixed on the vertical circle and being connected with each other；And
The horizon sensor fixed with the fuselage；
The primary optical axis of the central shaft of the horizontal limb and the camera lens is respectively perpendicular to the center of the vertical circle
Axle, and the central shaft of the central shaft of the horizontal limb, the primary optical axis of camera lens and vertical circle intersects at a point, the camera lens
Primary optical axis intersected vertically with the image plane of described image sensor, the row battle array of the photosensitive unit array of described image sensor with
The central shaft of the vertical circle is parallel, in the array of the photosensitive unit array of described image sensor and the vertical circle
Heart axle is vertical, and the central shaft of the horizon sensor is parallel with the central shaft of the horizontal limb.
This vision measurer of the application on the basis of above-mentioned technical proposal, also including following preferred scheme：
The horizontal direction adjusting knob being connected with the horizontal limb is provided with the fuselage.
The vertical direction adjusting knob being connected with the vertical circle is provided with the fuselage.
It is provided with the fuselage and is connected with described image sensor, vertical circle, horizontal limb and horizon sensor
Display screen.
The fuselage is locked on an instrument support by the three-jaw connector located at the horizontal limb bottom.
A kind of vision measuring method, it utilizes the vision measurer of said structure to implement, and defines the horizontal limb center
The intersection point of axle, the camera lens primary optical axis and the vertical circle central shaft is centre point, defines the primary optical axis of the camera lens
Intersection point with the image plane of described image sensor is principal point, and the distance of the principal point to the centre point is known
Distance, the method is comprised the following steps：
1) vision measurer is arranged in the first measurement erect-position, using the horizon sensor by vision measurer adjust to
Level；
2) object that the alignment lenses to be measured is shot, described image sensor obtains the image of target；
And in measurement process is shot, the horizontal limb and the vertical circle are rotated, and make the primary optical axis of the camera lens around institute
The central shaft of vertical circle and the central axis of the horizontal limb are stated, a position is often rotated and is shot an image, so that
The image for obtaining multiple objects is shot in same measurement erect-position；When shooting every time, the digital picture of equal records photographing, level
The attitude information of the angle information and horizon sensor of scale and vertical circle；
3) vision measurer is removed to next measurement erect-position, repeat the above steps 1) and step 2)；
4) such repeat step 3) several times, so as to be shot to object in multiple measurement erect-positions；
5) it is horizontal angle when the image that all single stations are shot and single station shooting image, vertical after multistation is measured
Angle and overall calculation is carried out together with the attitude information of horizon sensor；Under global coordinate system the coordinate (X, Y, Z) of impact point with
Coordinate (u, the v) relationship of its subpoint on the image sensor under the image coordinate system of vision measurer is：
In above formula, matrix M1 is the inner parameter matrix of vision measurer, parameter therein figure only with vision measurer
As sensor is relevant with camera lens；Matrix M2 is the external parameter matrix of vision measurer, is image coordinate system and global coordinate system
Translation rotation parameter, and horizontal limb, vertical circle angle information and the attitude information of horizon sensor；(u, v) is
Pixel point coordinates under image coordinate system, i.e., set up rectangular coordinate system in image pixel plane, and the rectangular coordinate system is with image
The point in the upper left corner is the origin of coordinates of image coordinate system, and coordinate unit is pixel, and (u, v) represents line number of the pixel on image
And columns；Dx and dy are that each pixel is expert to the physical size upward with row respectively；U0 and v0 is that principal point is sat in image
Coordinate under mark system；F is the effective focal length of camera lens；R is a 3*3 rank spin matrix；T is a 3*1 rank translation matrix；X、Y、
Z is coordinate value of the measured target under global coordinate system；ρ is middle transition parameter.
This vision measuring method of the application on the basis of above-mentioned technical proposal, also including following preferred scheme：
Centre point mark, the center of the centre point mark are laid on above vision measurer measurement erect-position
Point spatially overlaps with the centre point, and the vision measurer on latter measurement erect-position is in the instrument on above erect-position
Heart point mark is observed shooting.
The advantage of the application is：
1st, the application is integrated with scale angle measurement technique, photogrammetric technology, and it has noncontact, high accuracy, efficient
Feature.Photogrammetric accurate elements of exterior orientation is supplied to by the high-precision angle measurement of scale, is completely dependent on outward so as to solve
Portion's impact point carries out the problem of elements of exterior orientation resolving, substantially increases the precision of digital close range photogrammetry.In addition, in vision
Horizon sensor is installed, there is provided vertical line benchmark when being measured to vision measurer on measuring instrument, so as to solve measurement object
The problem of horizontal attitude and the discrepancy in elevation.
2nd, compared to TS16 total powerstations, this vision measurer of the application during processing and manufacturing, is strict with level
The central axis of scale are in the central shaft of vertical circle, while central shaft of the primary optical axis of camera lens perpendicular to vertical circle, and
And this three axis intersect at a point, this intersection point constitutes the central point of instrument.Meanwhile, the primary optical axis and imageing sensor of camera lens
Image plane intersect vertically, its intersection point --- principal point and centre point are at a distance of a known distance.The sense of imageing sensor
The row battle array of light unit array is parallel with vertical circle central shaft, array and vertical circle central axis.In horizon sensor
Heart axle is parallel with the central shaft of horizontal limb.Realized by the method for the guarantee of processing and manufacturing process and later stage compensation for calibrating errors
State geometrical relationship.Therefore, during instrument list station measures, the horizontal limb of instrument and the angle information of vertical circle can
The accurate elements of exterior orientation constraint of this multiple image of station is provided, meanwhile, in instrument multistation measurement process, the horizontal sensor of instrument
The attitude information of device can also provide the accurate elements of exterior orientation constraint between multistation image, avoid traditional photography measuring system
The problem of elements of exterior orientation is solved only by external object point, so as to greatly improve certainty of measurement.Meanwhile, surveyed using this vision
Amount instrument, photogrammetric field range is increased by the constraint of single station angle information, greatly reduces the cloth of external object point
If quantity.
3rd, the application is made by way of centre point mark on measurement erect-position before the observation on latter measurement erect-position
Fore-and-aft survey erect-position direct correlation is got up, and further increases certainty of measurement.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram under this vision measurer original state of the embodiment of the present application；
Fig. 2 is the dimensional structure diagram under this vision measurer working condition of the embodiment of the present application；
Fig. 3 is the front view of this vision measurer of the embodiment of the present application；
Fig. 4 is the side view of this vision measurer of the embodiment of the present application；
Wherein：1- fuselages, 2- horizontal limbs, 3- vertical circles, 4- camera lenses, 5- imageing sensors, 6- horizon sensors, 7-
Horizontal direction adjusting knob, 8- vertical direction adjusting knobs, 9- display screens.
Specific embodiment
The application is described in further detail below by specific embodiment combination accompanying drawing.The application can be with various
Different forms is realized, however it is not limited to implementation method described by the present embodiment.The purpose of detailed description below is provided
It is easy for becoming apparent from present disclosure thorough explanation, the words of the wherein indicating position such as upper and lower, left and right is only pin
To shown structure in respective figure for position.
However, those skilled in the art may be aware that one or more detail description can be by
Omit, or can also be using other methods, component or material.In some instances, some implementation methods are not described
Or be not described later in detail.
Additionally, technical characteristic described herein, technical scheme can also in one or more embodiments arbitrarily closing
Suitable mode is combined.For a person skilled in the art, it is easy to understand with provided herein is embodiment relevant method
Step or operation order can also change.Therefore, any order in drawings and Examples is merely illustrative purposes, not secretly
Show requirement in a certain order, require unless expressly stated according to a certain order.
It is herein part institute serialization number itself, such as " first ", " second " etc. are only used for the object described by distinguishing,
Without any order or art-recognized meanings.And " connection ", " connection " described in the application, unless otherwise instructed, including directly and
It is indirectly connected with (connection).
Fig. 1 to Fig. 4 shows a specific embodiment of this vision measurer of the application, and it is mainly by fuselage 1, level
Scale 2, vertical circle 3, camera lens 4, imageing sensor 5 and horizon sensor 6 are constituted.Wherein：
Fuselage 1 is the agent structure for supporting measuring instrument.
Horizontal limb 2 is connected on the fuselage 1, and can be rotated around central shaft, and the central shaft of horizontal limb 2 is erected
Straight arrangement.The use of the measuring instrument for convenience, in practical application, the horizontal limb 2 is generally by located at the three of its bottom
Pawl connector is locked on instrument support.Erection of the fuselage 1 on instrument support so is realized, the instrument support is usual
Using tripod structure.
Vertical circle 3 is connected on the fuselage 1, and can be rotated around central shaft, the center of vertical circle 3
Axle is horizontally disposed.
Camera lens 4 and imageing sensor 5 are fixedly connected with vertical circle 3, and camera lens 4 is mutually interconnected with imageing sensor 5
Connect.Imageing sensor 5 is used for the digital picture of records photographing.
Horizon sensor 6 is fixed with fuselage 1, and the horizon sensor 6 is built in fuselage 1 in the present embodiment.
The central shaft of the horizontal limb 2 intersects with the central axis of the vertical circle 3, i.e. the two not only vertical but also phase
Hand over (in the same plane).
The primary optical axis of the camera lens 4 passes through the intersection point of the central shaft of above-mentioned horizontal limb 2 and the central shaft of vertical circle 3, and
The primary optical axis of camera lens 4 and the central axis of vertical circle 3.I.e. the central shaft of horizontal limb 2, the central shaft of vertical circle 3 and
The primary optical axis of camera lens 4 intersects at same point, and the central shaft of horizontal limb 2 and the primary optical axis of camera lens 4 are each perpendicular to perpendicularity
The central shaft of disk 3.For convenience to the description of technical scheme, we define the central shaft of horizontal limb 2, vertical herein
The central shaft of scale 3 and this three joinings of axis of the primary optical axis of camera lens 4 are centre point.
The primary optical axis of the camera lens 4 intersects vertically with the image plane of described image sensor 5, here, we are by camera lens 4
Primary optical axis is referred to as principal point with the intersection point of the image plane of imageing sensor 5.The principal point is known with the distance of centre point
Fixed value, in actual use, the value will not change.
The row battle array of the photosensitive unit array of described image sensor 5 is parallel with the central shaft of the vertical circle 3.
The array of the photosensitive unit array of described image sensor 5 and the central axis of the vertical circle 3.
The central shaft of the horizon sensor 6 is parallel with the central shaft of the horizontal limb 2, and the horizon sensor is used to adjust
Save the levelness of vision measurer.
It is not difficult to find out, is adjusted by the rotation to the horizontal limb 2 and vertical circle 3, the primary optical axis of camera lens 4 can be made
Around the central shaft and the central axis of horizontal limb 2 of vertical circle 3, the so shooting angle of regulation camera lens 4.
For convenience survey crew to the rotation process of horizontal limb 2, the present embodiment is provided with and levelness on the fuselage 1
The horizontal direction adjusting knob 7 of the drive connection of disk 2, survey crew can manually rotate the horizontal direction adjusting knob 7 to drive water
Central axis of the Pingdu disk 2 around its own.
For convenience survey crew to the rotation process of vertical circle 3, the present embodiment is provided with and perpendicularity on the fuselage 1
The vertical direction adjusting knob 8 of the drive connection of disk 3, it is vertical to drive that survey crew can manually rotate the vertical direction adjusting knob 7
Straight scale 3 is around the central axis of its own.
Additionally, the present embodiment is also provided with the display screen 9 being connected with imageing sensor 5 on the fuselage 1, to ensure to measure people
The image that member can be shot by the real-time monitored of display screen 9.Certainly, the display screen 9 can also be by corresponding signal transmission
Circuit is connected with the horizontal limb 2, vertical circle 3 and horizon sensor 6, to directly display out two angle informations of scale
And the attitude information of horizon sensor 6.
Using the present embodiment, this vision measurer is comprised the following steps to the method that object carries out vision measurement：
1) preparation is measured first, and the agent structure of the vision measurer is placed on pedestal (base in the present embodiment
Seat tool body uses tripod structure) namely tripod at the top of support base on.The three-jaw of vision measurer horizontal limb bottom connects
Fitting is locked with the support base at the top of tripod, is adjusted to level the vision measurer using horizon sensor 6, now
Measuring instrument frame station completes, and vision measurer is in the first measurement erect-position, can start to shoot measurement.
The alignment object to be measured of camera lens 4 is shot, imageing sensor 5 obtains the image of target.But, due to
, generally all than larger, single image cannot be typically measured completely, it is thus typically necessary to so shoot mesh for the distribution of object
Mark thing：Manual turn horizontal direction adjusting knob 7 and vertical direction adjusting knob 8 and drive 3 turns of horizontal limb 2 and vertical circle
It is dynamic, and then make the primary optical axis of camera lens 4 around the central shaft of vertical circle 3 and the central axis of horizontal limb 2, often rotate a position
One image of shooting is put, so as to shoot the image for obtaining multiple objects in same measurement erect-position.When shooting every time, the equipment
Digital picture, the angle information of horizontal limb 2 and vertical circle 3, Yi Jishui that (also can manual record) shoots can be recorded
The attitude information of sensor 6.
2) by vision measurer remove to it is next measurement erect-position (will vision measurer be moved to next camera site, base
Seat is positioned and is placed on another spot for photography).Centre point mark, these centres are laid on measurement erect-position above
The center of point mark strictly overlaps with the centre of above erect-position.
And then the shooting that 1) measure that repeats the above steps 3).The measurement of this erect-position is shot before photographing as much as possible
Centre point mark on planar survey erect-position.Repeat step 2), so repeatedly (specific number of times can as needed voluntarily
Determine), so as to repeatedly be shot to object in multiple measurement erect-position.
It is not difficult to find out, the present embodiment is carried by measurement by centre point mark on measurement erect-position before observation
High measurement accuracy, specific practice is：Centre point mark, the instrument are laid on vision measurer measurement erect-position above
Spatially precision overlaps the central point of center point landmark with the centre point, the vision measurement on measurement erect-position below
Instrument carries out shooting measurement to the centre point mark for above measuring erect-position.
4) it is horizontal angle when the image that all single stations are shot and single station shooting image, vertical after multistation is measured
The attitude information of angle and horizon sensor carries out overall calculation together；Under global coordinate system coordinate of ground point (X, Y, Z) with its
Coordinate (u, the v) relationship of subpoint on imageing sensor under vision measurer image coordinate system is：
In above formula, matrix M1 is the inner parameter matrix of vision measurer, parameter therein figure only with vision measurer
As sensor is relevant with camera lens；Matrix M2 is the external parameter matrix of vision measurer, is image coordinate system and global coordinate system
Translation rotation parameter, and horizontal limb, vertical circle angle information and the attitude information of horizon sensor；(u, v) is
Pixel point coordinates under image coordinate system, i.e., set up rectangular coordinate system in image pixel plane, and the rectangular coordinate system is with image
The point in the upper left corner is the origin of coordinates of image coordinate system, and coordinate unit is pixel, and (u, v) represents line number of the pixel on image
And columns；Dx and dy are that each pixel is expert to the physical size upward with row respectively；U0 and v0 is that principal point is sat in image
Coordinate under mark system；F is the effective focal length of camera lens；R is a 3*3 rank spin matrix；T is a 3*1 rank translation matrix；X、Y、
Z is coordinate value of the measured target under global coordinate system；ρ is middle transition parameter.
During vision measurer list station measures, because horizontal limb, the angle information of vertical circle and level are passed
The attitude information of sensor have recorded the angle information between different images (image for shooting), therefore multiple figures that single station measures
As position relation each other is known.When overall resolving is carried out, multiple images of erect-position are measured each, only
One M2 matrix demand solution.It is leveling state to be additionally, since vision measurer, to multiple images of each measurement erect-position, M2
Matrix comprises only 3 translation parameters and 1 rotation parameter, so greatly reduces the unknown parameter of resolving.Meanwhile, using single station
Between (single measurement erect-position) image between known azimuth information and multistation the horizontal attitude information of instrument to measured target
Resolving enter row constraint, substantially increase the precision of measurement.In addition, in shooting process is measured, vision measurer is leveling shape
State, then, the primary optical axis of camera lens and the angle of horizontal plane are known on vision measurer, therefore, it can draw each water
The flat discrepancy in elevation.
Above-mentioned centre point mark is important accessory when this vision measurer is measured, and it is by base shaft and reflection mesh
Mark two parts composition.
The bottom of base shaft is three-jaw location locking mechanism, and this three-jaw positioning lock machine mechanism determines with the three-jaw of the bottom of fuselage 1
Position locking mechanism is identical；It is ball-and-socket location structure at the top of base shaft；The three-jaw location locking mechanism of base shaft bottom and top ball-and-socket
Location structure is an entirety, and period is in the absence of combination assembly relation；Base shaft bottom three-jaw location locking mechanism is by elevation location
Face and plane setting circle are constituted, and the ball-and-socket location structure at the top of base shaft is a lower concave spherical surface more than 1/3 ball, its lower concave spherical surface
The centre of sphere be exactly centre point mark central point；The centre of sphere of the ball-and-socket location structure at the top of base shaft is fixed to base shaft bottom three-jaw
The distance in position locking mechanism elevation location face is a known distance, and the distance is exactly equal to centre point to fuselage bottom
The distance in portion three-jaw location locking mechanism elevation location face；The centre of sphere of the ball-and-socket location structure at the top of base shaft and base shaft bottom three-jaw
The elevation that the line in the center of circle of location locking mechanism plane positioning circle is strictly perpendicular to base shaft bottom three-jaw location locking mechanism is determined
Plane.
Reflectance target is made up of spheroid and distribution one or more reflector spaces thereon, each reflector space and the centre of sphere
There is known position relationship, the sphere diameter of reflectance target is equal with the spherical diameter of the ball-and-socket location structure at the top of base shaft,
And it is a known diameter.
When vision measurer works, the base shaft of centre point mark lays simultaneously instrument of the positioning and locking in above survey station
On pedestal above support, reflectance target is then placed in the ball-and-socket location structure at the top of the base shaft of centre point mark
On sphere, the centre of sphere of such reflectance target just overlaps with the central point precision of centre point mark, while centre point mark
The central point of will also just overlaps with the centre point precision of above survey station.
Above content is to combine the further description that specific embodiment is made to the application, it is impossible to assert this Shen
Specific implementation please is confined to these explanations.For the application person of an ordinary skill in the technical field, do not taking off
On the premise of conceiving from the application, some simple deduction or replace can also be made.
Claims (7)
1. a kind of vision measurer, including：
Fuselage (1)；
Horizontal limb (2), the horizontal limb is connected on the fuselage, and the central shaft that can be vertically arranged around it rotates fortune
It is dynamic；
Vertical circle (3), the vertical circle is connected on the fuselage, and can rotate fortune around its horizontally disposed central shaft
It is dynamic；
The camera lens (4) and imageing sensor (5) for being fixed on the vertical circle and being connected with each other；And
The horizon sensor (6) fixed with the fuselage；
The central shaft of the horizontal limb (2) and the primary optical axis of the camera lens (4) are respectively perpendicular to the vertical circle (3)
Central shaft, and the central shaft of the central shaft, the primary optical axis of camera lens (4) and vertical circle (3) of the horizontal limb (2) intersects at
A bit, primary optical axis and the image plane of described image sensor (5) of the camera lens (4) intersect vertically, described image sensor (5)
Photosensitive unit array row battle array it is parallel with the central shaft of the vertical circle (3), the photosensitive unit of described image sensor (5)
The central axis of the array of array and the vertical circle (3), the central shaft and the levelness of the horizon sensor (6)
The central shaft of disk (2) is parallel.
2. vision measurer as claimed in claim 1, it is characterised in that be provided with and the levelness on the fuselage (1)
The horizontal direction adjusting knob (7) of disk (2) drive connection.
3. vision measurer as claimed in claim 1, it is characterised in that be provided with and the perpendicularity on the fuselage (1)
The vertical direction adjusting knob (8) of disk (3) drive connection.
4. vision measurer as claimed in claim 1, it is characterised in that be provided with the fuselage (1) and described image is passed
The display screen (9) that sensor (5), the horizontal limb (2), the vertical circle (3) are connected with the horizon sensor (6).
5. vision measurer as claimed in claim 1, it is characterised in that the fuselage (1) is by located at the horizontal limb
(2) the three-jaw connector of bottom is locked on an instrument support.
6. a kind of vision measuring method, it is characterised in that the method is using any described vision measurer in claim 1-5
Implement, define the intersection point of horizontal limb (2) central shaft, the camera lens (4) primary optical axis and the vertical circle (3) central shaft
It is centre point, the intersection point for defining the primary optical axis of the camera lens (4) and the image plane of described image sensor (5) is as main
Point, the distance of the principal point to the centre point is known distance, and the method is comprised the following steps：
1) vision measurer is arranged in the first measurement erect-position, using the horizon sensor (6) by vision measurer adjust to
Level；
2) camera lens (4) the alignment object to be measured is shot, described image sensor (5) obtains the figure of target
Picture；And in measurement process is shot, the horizontal limb (2) and the vertical circle (3) are rotated, and make the camera lens (4)
Primary optical axis around the central shaft of the vertical circle (3) and the central axis of the horizontal limb (2), often rotate a position
An image is shot, so as to shoot the image for obtaining multiple objects in same measurement erect-position；When shooting every time, record is clapped
The angle information and the attitude information of horizon sensor of digital picture, horizontal limb and the vertical circle taken the photograph；
3) vision measurer is removed to next measurement erect-position, repeat the above steps 1) and step 2)；
4) so repeat the above steps 3) several times, so as to be shot to object in multiple measurement erect-position；
5) after multistation is measured, horizontal angle, vertical angle when the image that all single stations are shot and single station shooting image and
The attitude information of horizon sensor carries out overall calculation together；The coordinate (X, Y, Z) of impact point is being schemed with it under global coordinate system
As coordinate (u, v) relationship under the image coordinate system of vision measurer of subpoint of sensor is：
In above formula, matrix M1 is the inner parameter matrix of vision measurer, and parameter therein is only passed with the image of vision measurer
Sensor is relevant with camera lens；Matrix M2 is the external parameter matrix of vision measurer, is image coordinate system flat with global coordinate system
Move rotation parameter, and horizontal limb, vertical circle angle information and the attitude information of horizon sensor；(u, v) is image
Pixel point coordinates under coordinate system, i.e., set up rectangular coordinate system in image pixel plane, and the rectangular coordinate system is with image upper left
The point at angle is the origin of coordinates of image coordinate system, and coordinate unit is pixel, and (u, v) represents line number and row of the pixel on image
Number；Dx and dy are that each pixel is expert to the physical size upward with row respectively；U0 and v0 is principal point in image coordinate system
Under coordinate；F is the effective focal length of camera lens；R is a 3*3 rank spin matrix；T is a 3*1 rank translation matrix；X, Y, Z are
Coordinate value of the measured target under global coordinate system；ρ is middle transition parameter.
7. vision measuring method as claimed in claim 6, it is characterised in that laid on above vision measurer measurement erect-position
Centre point mark, the central point of the centre point mark spatially overlaps with the centre point, latter survey
Vision measurer on amount erect-position is observed shooting to the centre point mark on above erect-position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710044344.6A CN106840108B (en) | 2017-01-19 | 2017-01-19 | Vision measurer and vision measuring method |
Applications Claiming Priority (1)
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| CN108050928A (en) * | 2017-09-05 | 2018-05-18 | 东莞中子科学中心 | A kind of vision measurer and a kind of vision measuring method |
| CN110108203A (en) * | 2019-04-11 | 2019-08-09 | 东莞中子科学中心 | A kind of silk thread location measurement method and system based on photogrammetric technology |
| CN112762896A (en) * | 2020-12-30 | 2021-05-07 | 凌云光技术股份有限公司 | Device and method for judging and adjusting levelness of large-depth-of-field lens camera |
| CN115854974A (en) * | 2023-02-21 | 2023-03-28 | 山东省国土测绘院 | Sight distance measuring device for surveying and mapping geography |
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| CN103115612A (en) * | 2013-01-25 | 2013-05-22 | 爱佩仪中测（成都）精密仪器有限公司 | Digital photogrammetry system combined with laser tracking technology, and combined measured target |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108050928A (en) * | 2017-09-05 | 2018-05-18 | 东莞中子科学中心 | A kind of vision measurer and a kind of vision measuring method |
| CN108050928B (en) * | 2017-09-05 | 2024-03-12 | 东莞中子科学中心 | Visual measuring instrument and visual measuring method |
| CN110108203A (en) * | 2019-04-11 | 2019-08-09 | 东莞中子科学中心 | A kind of silk thread location measurement method and system based on photogrammetric technology |
| CN112762896A (en) * | 2020-12-30 | 2021-05-07 | 凌云光技术股份有限公司 | Device and method for judging and adjusting levelness of large-depth-of-field lens camera |
| CN115854974A (en) * | 2023-02-21 | 2023-03-28 | 山东省国土测绘院 | Sight distance measuring device for surveying and mapping geography |
| CN115854974B (en) * | 2023-02-21 | 2023-05-09 | 山东省国土测绘院 | Viewing distance measuring device for surveying and mapping geography |
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| CN106840108B (en) | 2019-01-22 |
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